Motion Planning of Launching Stage for Multi-joint Jumping Robot
A motion planning method is discussed with respect to the launching stage of multi-joint jumping robot which has redundant and passive joints. In the proposed method, joint trajectories are generated in a combination of parameterized trajectories and a numerical optimization method named MOPSO (Multiobjective Particle Swarm Optimization) under several constraints. Moreover, minimizing energy consumption during launching stage and maximizing the speed of mass center at the lift-off moment are used as optimization objective to achieve motion planning and improve jumping performances of the robot. The validity of the method is evaluated by numerical simulations.
Shenghai HU Kunxiu DENG Lin LI Hong ZHANG
College of Mechanical and Electrical, Harbin Engineering University, Heilongjiang, China College of Mechanical and Electrical, Harbin Engineering University, Heilongjiang, China College of Automation, Harbin Engineering University, Heilongjiang, China
国际会议
The 4th International Conference on Mechanical Engineering and Mechanics(第四届国际机械工程与力学会议)
苏州
英文
307-312
2011-08-11（万方平台首次上网日期，不代表论文的发表时间）